using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Button;

namespace Rs.MotionPlat.Recipe
{
    public partial class StockTrayLocationRecipe : BaseForm
    {
        private TraySlot selectedSlot;
        private string m_trayName = "";
        DataTable dt = new DataTable();
        SqliteHelper db=new SqliteHelper();

        public StockTrayLocationRecipe()
        {
            InitializeComponent();

        }

        public StockTrayLocationRecipe(string trayName)
        {
            InitializeComponent();
            m_trayName = trayName;
            cameraTemplate1.ItemName = m_trayName;
        }

        private void BindPoints()
        {
            string querySql = $"select * from TrayBasePoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
            DataTable dtBasePoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtBasePoints))
            {
                dgvBasePoints.DataSource = dtBasePoints;
            }

            querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
            DataTable dtRunPoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
            {
                dgvRunPoints.DataSource = dtRunPoints;
            }
        }

        private void StockTrayLocationRecipe_Load(object sender, EventArgs e)
        {
            rsTray1.HeadText= m_trayName;
            string querySql = $"select * from NormalTray where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
            dt = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                DataRow dr = dt.Rows[0];
                foreach (DataColumn dc in dt.Columns)
                {
                    string columname = dc.ColumnName;
                    Control txt = ControlManager.FindControl(groupBox1, "txt" + columname);
                    if (txt != null)
                    {
                        txt.Text = dr[columname].ToString();
                        rsTray1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                        rsTray1.RowNum = int.Parse(dr["RowNum"].ToString());
                    }
                }
            }
            dgvBasePoints.AutoGenerateColumns = false;
            dgvRunPoints.AutoGenerateColumns = false;
            BindPoints();
        }

        private void btnCreateMatrix_Click(object sender, EventArgs e)
        {
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                string deleteSql = $"delete from TrayBasePoints where trayid='{dt.Rows[0]["ID"]}'";
                int rowEffect = db.ExecuteNonQuery(deleteSql);

                deleteSql = $"delete from TrayRunPoints where trayid='{dt.Rows[0]["ID"]}'";
                rowEffect = db.ExecuteNonQuery(deleteSql);
                if (rowEffect >= 0)
                {
                    int rowNum = int.Parse(dt.Rows[0]["RowNum"].ToString());
                    int colNum = int.Parse(dt.Rows[0]["ColumnNum"].ToString());
                    int index = 1;
                    for (int i = 0; i < rowNum; i++)
                    {
                        for (int j = 0; j < colNum; j++)
                        {
                            double xBase = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistX"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
                            double yBase = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
                            string insertBaseSql = $"insert into TrayBasePoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xBase},{yBase})";
                            double xRun = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistX"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString()));
                            double yRun = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString()));
                            string insertRunSql = $"insert into TrayRunPoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
                            db.ExecuteNonQuery(insertBaseSql);
                            db.ExecuteNonQuery(insertRunSql);
                            index++;
                        }
                    }
                    BindPoints();
                }

            }
        }

        private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot=arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void goToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if(selectedSlot!=null)
            {
                int nozzleIndex = 0;
                string querySql = $"select * from TrayBasePoints where trayid={dt.Rows[0]["id"]} and slotindex={selectedSlot.Index}";
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if(ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    ToolStripMenuItem subMenu=sender as ToolStripMenuItem;
                    ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
                    if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                    {
                        nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
                        SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);
                        targetX += dist.X;
                        targetY += dist.Y;
                    }
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
                    if(dr== DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("LoadX").MovePos(targetX,4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loadx move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("LoadY").MovePos(targetY,4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loady move fail,ret={errCode}");
                            return;
                        }
                        if (subMenu.Text.IndexOf("TakeProduct") >= 0)
                        {
                            TakeProduct(selectedSlot.Index, nozzleIndex);
                        }
                        else if (subMenu.Text.IndexOf("DumpProduct") >= 0)
                        {
                            DumpProduct(selectedSlot.Index, nozzleIndex);
                        }
                    }
                }
            }
        }

        private void btnTeach_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnTeach", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double pos = Ops.GetCurPosition(txt.Tag.ToString());
                txt.Text = pos.ToString("0.000");
                if (ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {txt.Name.Replace("txt", "")}={pos} where recipename='{GlobalVar.CurRecipe}' and trayname='{dt.Rows[0]["trayname"]}'";
                    if (db.ExecuteNonQuery(updateSql) > 0)
                    {
                        Msg.ShowInfo("teach point ok!");
                    }
                }
            }
        }

        private void btnMove_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnMove", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double targetPos = double.Parse(txt.Text);
                DialogResult dr = Msg.ShowQuestion($"are you sure to move axis {txt.Tag} to postion at:{targetPos}?");
                if (dr == DialogResult.OK)
                {
                    Motion.ErrorCode errCode = AxisControl.GetAxis(txt.Tag.ToString()).MovePos(targetPos, 4);
                    if (errCode != Motion.ErrorCode.Ok)
                    {
                        Msg.ShowError($"axis {txt.Tag.ToString()} move fail {errCode}");
                    }
                }
            }
        }

        private void btnSavePoint_Click(object sender, EventArgs e)
        {
            Button button = (Button)sender;
            string name = button.Name.Replace("btnSave", "");
            Control txt = ControlManager.FindControl(this, "txt" + name);
            if (txt != null)
            {
                if(ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {name}={txt.Text} where id={dt.Rows[0]["id"]}";
                    if(db.ExecuteNonQuery(updateSql)>0)
                    {
                        Msg.ShowInfo("save ok!");
                    }
                }
            }
        }

        /// <summary>
        /// 取料
        /// </summary>
        private void TakeProduct(int slotIndex, int nozzleIndex)
        {
            ErrorCode errCode = ErrorCode.Ok;
            Task.Run(() => { 
                while (true)
                {
                    if (Ops.IsStop("LoadX") && Ops.IsStop("LoadY"))
                        break;
                    Thread.Sleep(10);
                }
                DialogResult dr = Msg.ShowQuestion("Are you sure to take product?", MessageBoxButtons.OKCancel);
                if (dr == DialogResult.OK)
                {
                    errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{nozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                    {
                        Thread.Sleep(10);
                    }
                    Ops.On($"{nozzleIndex}号吸嘴真空吸电磁阀");
                    Thread.Sleep(200);
                    errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                    {
                        Thread.Sleep(10);
                    }
                }
            });
        }
        /// <summary>
        /// 放料
        /// </summary>
        private void DumpProduct(int slotIndex, int nozzleIndex)
        {
            ErrorCode errCode = ErrorCode.Ok;
            Task.Run(() => {
                while (true)
                {
                    if (Ops.IsStop("LoadX") && Ops.IsStop("LoadY"))
                        break;
                    Thread.Sleep(10);
                }
                DialogResult dr = Msg.ShowQuestion("Are you sure to dump product?", MessageBoxButtons.OKCancel);
                if (dr == DialogResult.OK)
                {
                    errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{nozzleIndex}TakeHeight")+1, GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                    {
                        Thread.Sleep(10);
                    }
                    Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");
                    Thread.Sleep(50);

                    Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
                    Thread.Sleep(100);
                    Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
                    errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
                    if (errCode > ErrorCode.Ok) return;
                    while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                    {
                        Thread.Sleep(10);
                    }
                }
            });
        }
    }
}